ITERATIVE CLOSEST POINT ALGORITHM FOR ACCURATE REGISTRATION OF COARSELY REGISTERED POINT CLOUDS WITH CITYGML MODELS

Affine iterative closest point algorithm for point set registration

Article history: Received 24 April 2009 Received in revised form 15 January 2010 Available online 25 January 2010 Communicated by Y. Liu

Rigid Registration: The Iterative Closest Point Algorithm

This lecture continues the subject of point based rigid registration. An important aspect of the algorithms previously presented was the assumption that the pairing between point coordinates in the two coordinate systems is known. In this lecture we present an algorithm which will not require this assumption and furthermore does not require a full pairing between data sets. Problem Definition G...

An Iterative Closest Points Algorithm for Registration of 3D Laser Scanner Point Clouds with Geometric Features

The Iterative Closest Points (ICP) algorithm is the mainstream algorithm used in the process of accurate registration of 3D point cloud data. The algorithm requires a proper initial value and the approximate registration of two point clouds to prevent the algorithm from falling into local extremes, but in the actual point cloud matching process, it is difficult to ensure compliance with this re...

Robust iterative closest point algorithm for registration of point sets with outliers

Morphological Iterative Closest Point Algorithm

This work presents a method for the registration of three-dimensional (3-D) shapes. The method is based on the iterative closest point (ICP) algorithm and improves it through the use of a 3-D volume containing the shapes to be registered. The Voronoi diagram of the "model" shape points is first constructed in the volume. Then this is used for the calculation of the closest point operator. This ...